Implantable imaging device

ABSTRACT

An imaging device for in vivo medical applications that enables minimally invasive surgical procedures. The imaging device includes an elongated frame having a base, a module housing, and an optional helical member interposed between the base and module housing. The imaging device further includes an actuation unit positioned within the frame that engages the module housing causing the frame to bend at the optional helical member. The module housing includes an imaging module and may include other modules including tools used for laparoscopic surgery.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of and claims priority to U.S.Non-provisional patent application Ser. No. 12/702,704, entitled“Implantable Imaging Device”, filed on Feb. 9, 2010, which is anon-provisional of and claims priority to U.S. Provisional PatentApplication No. 61/150,889, entitled “Implantable and ControllableCamera”, filed Feb. 9, 2009, which are hereby incorporated by reference.

FIELD OF INVENTION

This invention relates to a device for minimally invasive surgicalprocedures; more specifically, an implantable and controllable imagingdevice appropriate for in vivo medical applications.

BACKGROUND

As minimally invasive surgical (MIS) procedures become increasingsophisticated, new functions will be needed to realize successfulsurgical outcomes. For example, conventional laparoscopy places a limiton the number of devices that can be inserted in the body. In addition,these devices have limited positioning capabilities and may compete orinterfere with the preferred motion or position of another instrument.

SUMMARY

The present invention includes an implantable imaging device for use inminimally invasive medical procedures that can be wirelessly controlledand can wirelessly transmit images. This frees the ports that wouldnormally be used by a laparoscope, enabling surgeons to use additionaltools or to use the current devices with more mobility.

The imaging device includes an elongated frame having a base, a modulehousing, and a helical portion interposed between the base and themodule housing. The imaging device further includes an actuation unitpositioned within the frame that engages the module housing causing theframe to bend at the helical portion. The helical portion may be asingle or double helix structure.

In an embodiment, the module housing further includes an imaging moduleand may include other modules including tools used for laparoscopicsurgery. The imaging module may include zoom, autofocus, and/or imagestabilization features. The imaging module may also include a windowpositioned on the end of the module housing opposite the helicalportion.

The imaging device may further include a lens system positioned withinthe module housing to focus images coming into the imaging module ontoan image sensor. The imaging device may also include an additional lenssystem that guides light from light sources in the imaging module out ofthe imaging module.

The frame may be sized to fit into a trocar package. In addition, aneedle may be positioned on the end of the base. The housing module maybe introduced into the body cavity separately from the remainder of theframe and then assembled in vivo.

The imaging device may include a control unit in communication with theactuation unit. There may also be a wireless communication device incommunication with the control unit. Additionally, the imaging devicemay include a light source. The light source may be a controlled lightsource having multiple wavelengths and variable intensity control.

In another embodiment, the base may include a base support platform andthe module housing may include a housing support platform. The actuationunit is affixed to the base at the base support platform and positionedto engage the module housing at the housing support platform. Theimaging device may also include a rod attaching the base and the housingsupport platform.

In an additional embodiment, the actuation unit may include a casingthat has an axial passage and a motor positioned at least partially inthe axial passage. A shaft extends from the motor and is positioned toengage the module housing, causing the frame to bend at the helicalportion.

Alternatively, the actuation unit may include a housing support platformlocated inside the module housing, a casing with an axial passage, and amotor positioned at least partially in the axial passage. A shaftextends from the motor and is positioned to engage said housing supportplatform, causing the frame to bend at the helical portion.

As another alternative, the actuation unit may include a motor with ashaft and a piston. The piston is positioned to engage the shaft and themodule housing such that linear movement of said shaft causes linearmovement of said piston. The actuation unit may also include a housingsupport platform positioned within the module housing. The piston wouldthen engage the module housing at the housing support platform.

Additionally, the actuation unit may include a motor with a shaft, whichhas an arm. A tether connects the arm and the module housing. Movementof the arm causes the tether to wrap around the shaft, which pulls onthe module housing. As the module housing is pulled towards the base itcauses the frame to bend at the helical portion. The actuation unit mayalso include a housing support platform positioned within the modulehousing. The tether would then connect to the module housing at thehousing support platform.

BRIEF DESCRIPTION OF THE DRAWINGS

For a fuller understanding of the invention, reference should be made tothe following detailed description, taken in connection with theaccompanying drawings, in which:

FIG. 1 is a diagram of an imaging device with its motor located in thehelical portion of the frame according to an embodiment of the presentinvention.

FIG. 2 is a diagram the frame of an imaging device showing the frame'sability to bend according to an embodiment of the present invention.

FIG. 3 is a diagram of a transdermal needle attached to an imagingdevice according to an embodiment of the present invention.

FIG. 4A is a diagram of an imaging device with its motor located in thebase portion of the frame in its unbent position according to anembodiment of the present invention.

FIG. 4B is a diagram of an imaging device with its motor located in thebase portion of the frame in a bent position according to an embodimentof the present invention.

FIG. 4C is a diagram of the actuation unit of the imaging device shownin FIGS. 4A and 4B according to an embodiment of the present invention.

FIG. 5 is a diagram of an imaging device with an actuation unit thatcontains a casing and multiple motors according to an embodiment of thepresent invention.

FIG. 6 is an exploded view of the imaging device shown in FIG. 5according to an embodiment of the present invention.

FIG. 7A is a diagram of the actuation unit of the imaging device shownin FIGS. 5 and 6 according to an embodiment of the present invention.

FIG. 7B is an exploded view of the actuation unit shown in FIG. 7Aaccording to an embodiment of the present invention.

FIG. 8 is a diagram of a portion of an imaging device with an actuationunit that contains multiple motors and a modified casing according to anembodiment of the present invention.

FIG. 9 is a diagram of the internal circuitry of an imaging deviceaccording to an embodiment of the present invention.

FIG. 10A is a diagram of an exemplary chip set used in the circuitry ofan imaging device according to an embodiment of the present invention.

FIG. 10B is a diagram of the exemplary chip set of FIG. 10A shownstacked using multiple separators according to an embodiment of thepresent invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

In the following detailed description of the preferred embodiments,reference is made to the accompanying drawings, which form a parthereof, and within which are shown by way of illustration specificembodiments by which the invention may be practiced. It is to beunderstood that other embodiments may be utilized and structural changesmay be made without departing from the scope of the invention.

The present invention includes an implantable, controllable imagingdevice for in vivo medical applications. The imaging device enablesminimally invasive surgical procedures. Example applications includeprocedures in the ventral cavity. The imaging device may also providethe ability to film the progress of internal wound healing over a periodof days or weeks, allowing for better monitoring of surgical outcomes.

An embodiment of the imaging device is shown in FIG. 1. In thisembodiment, the imaging device includes a frame and an actuation unit.The frame includes base 105 and module housing 110 connected by helicalportion 115. Module housing 110 includes power source 150 and maycontain a laparoscopic surgery tool, such as an imaging module, a lightsource, or temperature sensor. Module housing 110 may also includewindow 155, which would be needed for tools such as an imaging module ora light source. A flexible covering may also be included over helicalportion.

Helical portion 115 may be a single helix structure or a double helixstructure. Helical portion 115 allows the frame to bend responsive tomovement caused by the actuation unit. The actuation unit, in thisembodiment, includes motor 120, shaft 125, piston 130, rod 135, basesupport platform 140, and housing support platform 145. Motor 120 issecured in its position within helical portion by housing supportplatform 145 and base support platform 140. Rod 135 connects base 105 tohousing support platform. As shaft 125 extends from motor 120, piston130 pulls on housing support platform 145 causing helical portion 115 tocompress on one side while rod 135 works to prevent compression on theopposing side of helical portion 115. This movement causes the imagingdevice's frame to bend as shown in FIG. 2. As shaft 125 retracts,helical portion 115 is allowed to expand and return imaging device toits un-bent position. If shaft 125 continues to retract, the tension inhelical portion 115 will cause helical portion 115 to continue to expandon one side, while rod 135 works to prevent expansion on the opposingside. This movement causes the imaging device's frame to bend in theopposite direction.

The imaging device is sized to fit in a trocar package and may includetransdermal needle 200, as illustrated in FIG. 3. The module housing maybe injected into the body cavity separately from the remainder of thedevice and then assembled in vivo.

In another embodiment, as illustrated in FIGS. 4A, 4B, and 4C, theactuation unit includes motor 320 with shaft 325, shaft arm 360, basesupport platform 340, housing support platform 345, and tether 365.Tether 365 is connected to shaft arm 360, threaded through aperture 380(FIG. 4C) in base support platform 340, and connected to housing supportplatform 345. As motor 320 rotates shaft 325 and shaft arm 360, tether365 wraps around shaft 325, as shown in FIG. 4B. As tether 365 wrapsaround shaft 325, it pulls on housing support platform 345 causinghelical portion 315 to compress on one side. This movement causes theimaging device's frame to bend as shown in FIG. 4B. As motor 320 turnsshaft 325 and shaft arm 360 in the opposite direction, tether 365unwraps from around shaft 325 allowing helical portion 315 to expand andreturn imaging device to its unbent position.

A rod (not shown) may also be included to provide movement (bending) inthe opposite direction, similar to the embodiment shown in FIG. 1. Here,the rod would connect base 305, such as at motor 320, to housing supportplatform 345. The frame would be in an unbent position when tether 365was wrapped around shaft 325 a predetermined number of times. As motor320 turned shaft 325 in a first direction, tether would further wraparound shaft 325, causing the frame to bend as described previously andshown in FIG. 4B. As motor 320 turned in the opposite direction, tether365 would unwrap. Once the number of times tether 365 was wrapped aroundshaft 325 was less than the predetermined number of times required tokeep frame in its unbent position, the frame would begin to bend in theopposite direction.

FIGS. 4A, 4B, and 4C also show the placement of power lines 370 and 375connecting power 350 to motor 320.

In another embodiment, as shown in FIGS. 5 and 6, the actuation unitincludes multiple motors. FIG. 5 shows the actuation unit positionedwithin the frame of the imaging device. FIG. 6 is an exploded viewshowing actuation unit 617 and housing support platform 645 outside ofthe frame. A more detailed view of actuation unit 617 is shown in FIG.7A and an exploded view of actuation unit 617 is shown in FIG. 7B. Asillustrated in FIGS. 7A and 7B, the actuation unit includes motors 620,each having shafts 625, casing 685, and sleeves 690. Casing 685 securesmotors 620 in place within the frame and provides spacing of motors 620.Casing may be fitted within base 605 or may extend at least partiallyinto helical portion 615. Sleeves 690 fit in passages 687 of casing 685and are used to secure motors 620 to casing 685. Shafts 625 extendthrough helical portion 615 and engage housing support platform 645,which is secured to housing module 610. Movement (or bending) in thisembodiment is caused when one or more of shafts 625 is extended and/orrefracted from motors 620. Similar embodiment may be implemented withany number of motors/shafts. Casing 685 may also be shaped as shown inFIG. 8.

The imaging device is operated by control signals and may betele-operable. The control signals may be optical, electrical, ormagnetic. One function of these control signals is to control the depthand field of view of the imaging device. Such control signals and anyother data transmitted or received by the imaging device may betransmitted/received via a wired or wireless connection.

As shown in FIG. 9, in an embodiment, imaging device further includesimaging module 995. Imaging module 995 is connected to imaging control996. Also included are wireless communication device 992, controller987, and power 950. Controller 987 controls the movement of the imagingdevice by directing the movement of motor 920. Controller 987 is also incommunication with imaging control 996 and wireless communication device992. Wireless communication device 992 transmits images captured byimaging device 995 to a remote receiving station and receives controlsignals from an external control unit, which it then transmits tocontroller 987. Wireless communication device 992 may also be used forany other communication needed between imaging device and the controlunit or other external system, such as a display system. Wirelesscommunication device 992 may also be used for communication with otherwirelessly enabled implantable devices. FIG. 10A shows top view ofexemplary chip set used as power 950, controller 987, wirelesscommunication device 992, and imaging control 996. FIG. 10B shows thechips as they would be stacked using separators 902 in module housing910.

In addition, the imaging device may have capabilities for pan and zoom,autofocus, and/or image stabilization, which may be built into imagingmodule 995 or module housing 910. The imaging device may also includeone or more light sources, which also may be incorporated into modulehousing 910 or imaging module 995. The light source may be a controlledlight source having multiple wavelengths and intensity control.

The module housing may also include a lens system that focuses imagesinto the imaging module and onto an image sensor and a lens systemguiding light from light sources in the imaging module out of theimaging module, thereby minimizing deterioration of the image caused byinternal reflections of light from the light sources, which areilluminating the items being viewed.

The imaging device has minimal, or no, physical connections to apatient's exterior. Example connections include a small power cordcapable of being threaded using a needle adapter and a release mechanismallowing for removal of the imaging device at the point of insertion.FIG. 9 illustrates the placement of power cord 998 and ground cord 999through the imaging device to needle 901. The imaging device may also bebattery powered and, therefore, not requiring a power cord.

The imaging device may also include a propulsion system. The propulsionsystem allows the imaging device to move about the body cavity withoutthe aid of a tether. The bendable frame and the actuation unit aid inorienting the imaging device inside the body cavity. The actuation ofthe frame may also be via shape memory effects, piezoelectric effects,electrical or magnetic actuators, or a similar method or device.

In another embodiment, two or more imaging devices are provided. Theimaging devices are used, along with imaging software, to providecoordinated motion which allows for sectored views, panoramic views,electronic zoom, feature tracking (examples include tracking a specificorgan or portion of an organ, or a surgical tool) or the creation ofholograms (three-dimensional views) that may be viewed on displaysand/or projected onto the skin of the patient.

It will be seen that the advantages set forth above, and those madeapparent from the foregoing description, are efficiently attained andsince certain changes may be made in the above construction withoutdeparting from the scope of the invention, it is intended that allmatters contained in the foregoing description or shown in theaccompanying drawings shall be interpreted as illustrative and not in alimiting sense.

It is also to be understood that the following claims are intended tocover all of the generic and specific features of the invention hereindescribed, and all statements of the scope of the invention which, as amatter of language, might be said to fall there between.

What is claimed is:
 1. An imaging device comprising: an elongated framehaving a base, a module housing coupled to said base; an actuation unitpositioned within said frame, attached to said base and positioned toengage said module housing; and a transdermal needle positioned on andextending from the end of said base opposite said module housing, saidtransdermal needle extending away from said module housing and inelectrical communication with said module housing, said transdermalneedle used for implantation of said imaging device in vivo.
 2. Theimaging device of claim 1, further comprising: a base support platformpositioned within and secured to said base; a housing support platformpositioned within and secured to said module housing; and said actuationunit affixed to said base at said base support platform and positionedto engage said module housing at said housing support platform.
 3. Theimaging device of claim 2, further comprising: a rod attached to saidbase and to said housing support platform.
 4. The imaging device ofclaim 1, further comprising: an imaging module positioned within themodule housing.
 5. The imaging device of claim 4, wherein said imagingdevice further comprises a zoom.
 6. The imaging device of claim 4,wherein said imaging device further comprises an autofocus.
 7. Theimaging device of claim 4, wherein said imaging device further comprisesimage stabilization.
 8. The imaging device of claim 1, furthercomprising: a window positioned on the end of the module housingopposite said base.
 9. The imaging device of claim 1, furthercomprising: a control unit in communication with the actuation unit. 10.The imaging device of claim 9, further comprising: a wirelesscommunication device positioned within the module housing and incommunication with the control unit.
 11. The imaging device of claim 1,further comprising: a light source positioned in said module housing.12. The imaging device of claim 11, wherein said light source is acontrolled light source having multiple wavelengths.
 13. The imagingdevice of claim 12, wherein said controlled light source includesvariable intensity control.
 14. The imaging device of claim 1, whereinsaid frame is sized to fit into a trocar package.
 15. The imaging deviceof claim 1, wherein said frame is cylindrical in shape.
 16. The imagingdevice of claim 1, further comprising: a lens system positioned withinthe module housing.
 17. The imaging device of claim 1, furthercomprising: a power cord disposed within said imaging device and inelectrical communication with said transdermal needle to power saidimaging device.